Interface StdDevModel

Functional Interface:
This is a functional interface and can therefore be used as the assignment target for a lambda expression or method reference.
@FunctionalInterface public interface StdDevModel
Chooses how much the estimator should trust an observation that has passed every gate.

The 2026 Limelight code did this with confidence tiers ("Strong Multi integration", "Close integration", ...), and a tier could still refuse ("Integration Criteria not Met"), so the model may also reject. The tier name is logged next to each accepted measurement.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static final record 
    StdDevModel.StdDevs
    Standard deviations handed to the pose estimator.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final String
    NO_TIER
    Rejection reason logged when a model returns null.

  • Method Summary

    Modifier and Type
    Method
    Description
    StdDevModel.StdDevs
    choose(PoseObservation observation, GateContext context)
    Picks std-devs for an observation.

  • Field Details

  • Method Details

    • choose

      StdDevModel.StdDevs choose(PoseObservation observation, GateContext context)
      Picks std-devs for an observation.
      Parameters:
      observation - the gated observation
      context - robot state
      Returns:
      the std-devs and tier, or null to reject as not meeting any tier